Safe path planning and control constraints for autonomous goal seeking

Many mobile robot path planning algorithms produce changing intermediate goal coordinates for a mobile robot to pursue. These provide motoring speed/torque signals, based upon local sensor information and the position of the global target, with little regard for the vehicle dynamics. In this article mobile robot path planning parameters are related to the application of correct, general control laws. The derivation of desired velocity signals which feed a vehicle´s speed controller and conform to the velocity and acceleration limits of the vehicle is presented. A safe operating area, for the individual wheels of a vehicle is derived in acceleration-velocity space. A trajectory planner which produces correct displacement, velocity and acceleration, profiles as a function of time is derived. These trajectories drive the vehicle to its target, while always keeping within the defined safe operating acceleration-velocity limits.